Fault-Tolerant Control for Physically Linked Two 2WD Mobile Robots with Actuator Faults

Yajie Ma 1 Vincent Cocquempot 1 Maan El Badaoui Ei Najjar 1 Andrey Polyakov 2 Gang Zheng 2, 3
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : In this paper, a fault-tolerant control scheme for two physically linked two wheel drive (2WD) mobile robots with multiple and simultaneous actuator faults is proposed. The kinematic and dynamic models are first presented. A kinematic control law is designed, based on which, a dynamic control law is investigated. By applying the proposed dynamic control signal, the desired system stability and tracking properties are ensured. Simulation results are finally presented to verify the effectiveness of the developed fault-tolerant control scheme.
Type de document :
Communication dans un congrès
IFAC World Congress, Jul 2017, Toulouse, France
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https://hal.inria.fr/hal-01660111
Contributeur : Gang Zheng <>
Soumis le : dimanche 10 décembre 2017 - 00:14:20
Dernière modification le : mardi 3 juillet 2018 - 11:36:02

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  • HAL Id : hal-01660111, version 1

Citation

Yajie Ma, Vincent Cocquempot, Maan El Badaoui Ei Najjar, Andrey Polyakov, Gang Zheng. Fault-Tolerant Control for Physically Linked Two 2WD Mobile Robots with Actuator Faults. IFAC World Congress, Jul 2017, Toulouse, France. 〈hal-01660111〉

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